Electric motor control system



Nav. 23, 1948.

Filed July 7, 1945 n. E. sUNs'rElN 2,454,355

ELECTRIC MOTOR lCONTROL SYSTEM` 3 Shneets-Sheet 2 FIG. Z

. zo' ne 9 q PuLoT SIGNAL 6 53' l 7 5 mi 7 D 5 25 v za\ PHASE mscRmrNAToR /17 m4 g AMPLIFIER MOTOR INVENTOR.

DAVID E. SUN STEIN Nov. 23, 1948.r

Filed July 7, 1945 3 Sheets-Sheet 5 .57 4 &T *"55- L MOTOR l5 mi Q-*3"* '//J 75 AMPLIFIER I+ V .DETECTOR mvENToR oAvao E. sUNsrElN,

BY LM f A4@ ATToRNY Patented Nov. 23, 1948 UNITED STATES PATENT oFFicE ELECTRIC MOTOR CONTROL SYSTEM Davia E. summa, Enum Park, Pa.,

Philco Corporation, a corporation vania assigner to oi Pennsyl- Application July 7, i945, Serial No. 603,604 14 Claims. (Cl. 318-31) My invention relates to a power follower and more particularly relates to an electromagnetically-operated power follower.

In power followers heretofore devised, a comparatively large amount of power is required in the control mechanism per se, the mechanical advantage usually being small. This makes such systems relatively insensitive for small movements or for precision of movement. In many cases such as fire control, fine degrees of accuthe wires are attached, all arranged for following any mechanical rotation.

To accomplish this, a small coil is wound on a transformer core. 'I'his coil is energized'by a convenient signal such as an alternating current of 60 or 400 cycles. This small coil is fastened to a shaft which rotates about the same axis as the pick-up coils. Normally the core of the small coil is aligned with one of the pick-up coils'vv and is rotatable for alignment with the gap of the other pick-up coil. The transformer core is open and completes the magnetic circuit of the pick-up coil-s when aligned with either of them.

Whenever the small magnetized coil moves from a predetermined zero position, signals are impressed from the phase detector on the motor in such a direction as to cause the motor to drive the ring gear carrying the pick-'up coil or coils back to the neutral position. Accordingly, as the center magnetic coil rotates, the structure carrying the ring gear follows the motion of the shaft carrying the small magnetic coil.

Such a device has a distinct advantage over such devices as the Selsyn in that the power required for the shaft which rotates independently, is very small since the back reaction on the signal transformer core is slight. Although the powerl required to rotate the ring gear with the associated pick-up coils and possible other apparatus may be quite large, this power is supplied from the motor, not from the shaft which is giving the initial rotation. A

Accordingly, an 4object of my invention is to provide a novel power follower.

A further object of my invention is to provide a phase discriminator circui a novel means for utilizing the rotation of a magnetic field to achieve a power follower action.

Still another object of my invention is to provide a novel arrangement of power follower with Still a further object of my invention is to'provide a novel power follower in which phase displacement 'of signals generated by a rotatable member is utilized for effecting a power follower action.

The invention will be clear from an inspection of the accompanying drawings in which:

-Figure 1 shows a diagram of the system withthe electronic parts in block;

Figure 2 shows amodincation of this system; and

Figure 3 shows a possible arrangement of the electronic circuits.

Referring to Figure 1, a small magnet 5, around which is wound a pick-up coil connected for suitable energization, is pivotally mounted for rotation, and the ring gear 8 is arranged to follow this motion. The two magnetic' structures 3 and 4 are rigidly fastened to the ring gear 8, and

around each of these magnetic structures there is wound a pick-up coil I and 2.

Coil 5 is energized through slip-rings 6 and 'I from a source oi' power which may be 60 cycles or 400 cycles or any other convenient frequency. This coil 5 is free to berotated independently and by itself, requiring relatively minute power. The ring gear and the magnetic structure are so arranged in-cooperation with electrical circuits explained hereinafter, that the ring gear follows the motion of the energized magnet coil 5.

Signals from the two pick-upcoils I and 2 are taken from the ring gear through slip-ring arrangements Ill and II. These slip-ring arrangements enable the ring gear to rotate continuously in one direction without causing any difculties y with the electrical circuit.

,Signals from the pick-up coil 4I are fed into amplier I 3, and signals from the pick-up coil 2 are fed into amplifier I2. In the position shown,

with the pole faces of magnet 3 at right angles to the pole faces of magnet 5, no signal is induced in winding I, whereas full signal is induced in winding 2. Ampliiers I2 and I 3 are thus so arranged that a large signal is fed into the phase detector I4 from amplier I2, whereas a practically zero signal is fed in from amplifier I3 to phase detector Il under circumstances of correct positioning of the ring gear. Under these circumstances, no signal is fed from the phase detect'or Il to the motor I5, and consequently. the

I corresponding follow-up clockwise motor,l does not operate. In this condition, the system is in perfect balance.

Asstime, however, through any small angle. Under these circumstances the same voltage, approximately, or only slightly smaller voltage, is still induced in coil 2, and amplifier I2 operates as before and feeds a fairly large signal to the phase detector Il.

On the other hand, the fact that coil 5 has been rotated a few degrees will now cause a component of the iiux in magnet 5 to iiow through magnetic circuit 3, and consequently, a voltage will be induced in coil fied in amplifier I3 and is fed into the phase detector Il. The phase detector III recognizes whether this is in phase or out of phase with the .voltage which is fed from amplifier I2 and gives a proper signal to motor I5.

For example, if the two voltages are in phase, which may occur as a result of the coil 5 having been rotated clockwise, the signal from the phase detector I4 to the motor, I5 is in such a direction as to cause the motor to`rotate ring gear 8 in the direction. Motor I5 acting through the worm gear I6 and ring gear 8 drives the coil structures 3 and l in a clockwise direction to follow the motion of coil 5. i

As soon as the ring gear has rotated to the position at which the original relative position of the pick-up c-oil I and coil 5 again obtains, and no voltage is induced in pick-up coil i, no further signal is sent to the motor which therefore stops further rotation; and the system is again in balance at its new position with the ring gear in its follow-up position of coil 5.

If now, coil 5 should be displaced in a lcounterclockwise direction, the voltage induced in coil i will be out of phase 180 with respect to the voltage which was induced, due to a clockwise rotation. Through the action of the phase detector this will 'cause an opposite signal to be sent into motor I5 so that the motor i5 will rotate in the direction opposite to that in which it wouldv that the coil 5 is rotated.

I. This voltage is amplirotate in thecase when the coil e was rotated* in the lclockwise direction.

If again the coll 5 is rotated in eounterclockwise direction, the signal from thephase detector to the motor is in such direction as to cause the ring gear to be further rotated in a counterclockwise direction untila balanced circuit condition obtains, thus again causing the ring gear rto follow the motion of coil Thus a power follower is provided in which they motion of ring gear t will follow the motion of coil 5, and, furthermore, in doing this, practically no torque is imposed upon coil 5. The power to operate the ring gear is supplied to the motor" through the electronic circuits.

Figure 2 shows a variation of this system. ln

" this figure, the energizable coil 5 is again pivotally mounted for rotation, and is again supplied through slip-rings I5 and 'l from a signal source I9. The pick-up coils, however, consist of a pair of coils 20 and 2| whichare this time connected in series, and which replace in action coil l of Figure 1. The signals from coils 20 and 2i are fed out throughslip-rings 25 and 2t to .the external circuit into one end of an amplifier l1.

Amplier I1, which corresponds to amplifier "|31 in Figure 1, has its output fed into a phase detector or discriminator I8. Phase discriminator I8 is also supplied with a signal from the pilot signal I9. The output of the phase discriminater 4 is fed to motor I5 which in turn through worm gear I6.

Here again, as in the previous case, when coil 5 and coils 20 and 2| are at right anglesto each other, no signal is picked up -by coils 20 and 2|. Consequently, n o signal is fed into the phase discriminator I8 from amplifier I1. Consequently, there is no output from the phase discriminator to themotor I5, and no motionis apparent in ring gear 8.

However, if the coil 5 should be rotated in clockwise direction, a voltage of a predetermined phase is developed in coils 20 and 2I. This is amplified in amplifier I1, and consequently, a voltage of a predetermined phase is impressed upon the grid of tube 28 in the phase discriminator I5.

operates `gear 2 This tube amplifies the signal and this-ampli fied signal is then compared in the actual discriminator circuit involving double triode 21 with the pilot signal I9 which is fed in on the cathode of tube 21. The result of this comparison is an output signal which is fed to motor I5, this output signal having such a polarity that the ring gear 8 is rotated in a clockwise direction.

Similarly, if the energized coil 5 were rotated in the counter-clockwise direction, a voltage would be induced if coils 20 and 2l were in the opposite phase to the previous induction. Thus, the signal vapplied to tube 28 would be in the opposite phase and the output of thefphase discriminator to the motor would be of the opposite polarity than before. motor I5 to rotate in the opposite direction, and

consequently, would cause ring gear 8 to be rotated in `the counterclockwise direction.

In either of these two cases it is to be observed that the ring gear follows the motion of shown energizing both coils l and 2. These feed amplifiers I2 and i3 which in turn feed the phase detector at different points. f"

The signal from amplifier l2 feeds the amplitying tube on its grid. This tube is arranged to have both cathode and plate resistors such that an output balanced to ground is sent into the `detecting tube 52 through the blocking capacitors 48 and liti.

The two grid resistors 5@ and 5l are equal and insure that the signals reaching the grid of tube 52 are balanced to ground with respect to D. C. A signal Ifrom amplifier i3 is fed in on the cathode of tube 52.

In this phase discriminator circuit the signals on the two grids are out of phase with respect to each other. The plate loads 53 and 54 of the tube are equal. Across the plates is connected the armature 55 of motor I5, the field of which.

is energized by a suitable D. C. source such as the battery 51; y

Inasmuch as the armature is connected be'- tween the plates of the two triodes on tube 52, no signal will normally be applied to the armature, since the plate currents of the two halves of tube 52 are equal.

This occurs under the circumstances that the grid to cathode potentials of each half of vtube 52 follow the .same pattern. Thus, this occurs This would cause the when no output is being obtained from amplifier I 3, i. e., when n o voltage is picked up in coil I. However, if a voltage is picked up in coil l, a signal is supplied by amplifier I3 to the cathode of tube 52. This voltage adds to the voltage on one of the grids and subtracts from thevoltage on the other of the grids of tube 52 in view of the fact that the voltages on these two grids are 180 out of phase with respect to each other.

Accordingly, the D. C. component of current in one side of tube 52 is lowered, whereas the D. C. component of current in the other side of tube 52 is raised. This action takes place through the non-linear'operation of the tube 52, which is either biased on a non-linear portion of its transfer characteristics, or else fed a large signal'ffrom tube 45 sufficient to cause non-linear operation.

It is further apparent that if the phase of the voltage picked up by coil I should be reversed, the unbalance of the plate circuit of tube 52 would also be reversed, because the reversal of phase of the input to the cathode would reverse the association with the phase of the voltages on the grid, and consequently the triode which previously would carry the lesser current would be the one which would carry the greater current. This would obviously reverse the current .iiow through thearmature of motor I5.

It will now be clear from the above that when the phase of the voltage picked up by coil I is reversed, the polarity of the signal supplied to the motor is reversed. Furthermore, the field winding 56 ofthe motor is supplied with a fixed D. C. current by means of battery 51. Under these circumstances, if coil 5 should be deflected in one direction, the motor will cause the ring gear to rotate in a specified direction. This direction will be such that pick-up coils I and 2 rotate in the same direction in which coil 5 has been rotated.

Under these circumstances then, no matter how coil 5 is rotated, the motor I5 will causering gear 8 carrying coils I or 2 to be rotated in the same direction as coil 5 has been rotated. Thus,

having flux normally induced in a predetermined l y.direction along said path, means for angularly moving said path to change the direction of said flux, a pair of magnetic paths having pole faces angularly disposed with respect to each other, said first magnetic path, when in a predetermined position being' in operative relation with one of said pairs of magnetic paths, with the pole faces of each in opposed relation for completing a magnetic circuit therewith, said same first magnetic path being at the same time in non-operative relation with the other of said pair of magnetic paths with their pole faces in right angle relation, the iluiein said first magnetic circuit dividing between said pair of magnetic paths as said rst magnetic circuit is/angularly moved to increase .the flux iow from said iirst path to the second of said pair of paths and to decrease the flux flow from said first path to the first of said-second pair of paths, a motor for rotating said pair of magnetic paths, and means controlled in accordance with the iluX in each of said pair of magnetic paths for operating said motor torotate said magnetic paths through an angle and in\ a direction determined byy the change in direction of said flux in said rst magnetic circuit.

2. In a power follower, a first magnetic path having flux normally induced. in a predetermined direction along said path, means for angularly moving said path to change the direction of said flux, a pair of magnetic paths having pole faces angularly disposed at right angles withrespect to each other, the ilux in said rst magnetic path dividing between said pair of magnetic paths in accordance with the angular position of each of said pair of magnetic paths with respect to said first magnetic path, a motor for rotating said pair of magnetic paths, and means controlled by the iux in said pair of magnetic paths vfor rotating said motor to effect a predeterthe ring gear tends to follow the motion, no matter how complicated, of coil 5.

It is apparent that, in view of the above detailed explanation of Figure 3, that Figure 2 previously described may incorporate a phase discriminator I8 and a motor I5 of a character similar to that shown in Figure 3 as phase discriminator I 6 and motor I5.

Furthermore, it is apparent that in all the drawings, the functions of the coils may be interchanged Eor'example, the invention may be modified in that the ring gear 8 and the coils mounted thereto may be attached to the shaft whose motion is to be followed and in this case, the motion of such a shaft is duplicated by coil 5, which is mechanically arranged to be driven by motor I 5.

Likewise, it is apparent that, if the motor I5 is a two phase A. C. motor, satisfactory operation may be obtained by a modification of Figures 1 or 2 in which embodiment of the invention the two phases of the motor are energized directly by the signals which in Figures 1 and 2 arefed into the phase detector or discriminator. In this variation of the invention, no phase discriminator need be used.

Since many other modifications of my invention are contemplated, I prefer my invention to be bound by the following claims.

mined rotation of said pair of magnetic paths.

3. In a power follower, a magnetic path having flux normally induced in a predetermined direction, means for rotating said lmagnetic path, a

rstcircuit including a Winding so disposed with respect to said magnetic path that normally zero signal is induced in its winding by the flux in said magnetic path, a second circuit including a winding so disposed with respect to said magnetic path that normally maximum signal is induced in its Winding by the flux in' said magnetic path, and as saidV magnetic path is rotated, a signal voltage is induced in the winding of the first magnetic path, a phase detector connected to said first and second circuits, means including said circuits fori energizing said phase detector in accordance with the change in direction of said flux, a. motor connected in the output of .said phase detector, said circuit connections being such that with no signal induced in the winding of the first magnetic path, no current flows in the output of the phase detector and as signal is induced in the winding of the first magnetic path, the phase detector is energized and current flows in its output circuit for effecting a rotation of said motor in a direction and through an angle which is a function of the change of direction of said flux in said magnetic path.

4. In a power follower, a rst magnetic path pivotally mounted for rotation, means for'eifecting an angular rotation of said magnetic path, a pair of magnetic paths having pole faces disposed at right angles said first magnetic posed in alignment with one of said pairs of magnetic paths and at right angles to the'other of said pair of magnetic paths, the component of the flux in the flrstemagnetic path which is in each of the pair of magnetic paths being a functionv of their angular positions with respectv to said first magnetic path, a phase detector, circuit connections for energizing/ said detector in accordance with the proportion of flux in each of said pair of magnetic paths, said phase detector beingde-energized when said first magnetici path is in right angle relation with said other ofsaid magnetic paths, a motor, mechanical connections from said motor for rotating said pair of magwith respect to each other. i ath being common to said pair of magnetic pa hs, and being normally disduced in a predetermined direction, means for changing the direction of said pole faces, a pair of magnetic paths having Ipole faces angularly disposed with respect to each other, the pole faces of one of said /pair of magnetic paths and the pole faces of said first magnetic path being norlmally in operative relation with the pole faces the current in the output of said phase detector netic paths, and circuit connections from the output of said phasedetector to said motor for energizing said motor to rotate said pair of magnetic paths in a direction to follow the angular rotation of said first magnetic path.

5. In a power follower, a first magnetic path having flux normally induced in a predetermined direction;V means for changing the direction of said flux, a pair of magnetic paths having pole faces angularly disposed with respect to each other, the pole faces of one of said pair of mag- .netic paths and the pole faces of said first magnetic path being normally in operative relation, with the pole faces of ea-ch directly opposed for completing a magnetic circuittherewith, a phase l detector, means energized by the flux in said pair of magnetic paths for operating said phase detector, a motor for rotating said pair of magnetic paths, circuit connections from the output of said phase detector to said motor, and means including circuit connections whereby the output of said phase detector is zero when said one of said pair of magnetic paths is in its normal position with its pole faces directly opposite the pole faces. of said flrstanagnetic path:

6. In a power follower, a first magnetic path having an energizing winding, said winding being pivotally mounted for rotation, a source of signal energy for effecting an angular rotation of said magnetic path, a pair of magnetic paths dis-A posed at right angles with respect to each other, a common support for said magnetic paths, one of` said pair of 'magnetic paths and said first magnetic path being normally in operative relation with the pole faces of each directly opposed for completing a magnetic circuit therewith, and being normally in non-operative relation with the other of said pair of magnetic paths, a winding for each of said pair of magnetic paths -and hav-1 `Ving a voltage induced therein/ when cut by the magnetic flux in its associated magnetic path, the voltage induced in said other winding of said pair of paths being zero when said first magnetic path is in `normal relation thereto, an amplifier individual to' and connected to each of said windings, a phase detector, circuit connections from the output of each of said amplifiers to said phase detector, a motor, mechanical connections from said motor to said common support of said pair of magnetic paths, a circuit connection from the output of said phase detector to said motor, and means including circuit connections whereby the output of said phase detector is zero when said one of said pair of magnetic paths is in its normal position with its pole faces directly opposite the pole faces of said first magnetic path,

'1. In a power follower, a first magnetic path having pole faces and having flux normally inbeing zero when said first magnetic path is in normal. position, .and means includingncircuit connections to -said phase detector for driving *said` motor to rotate said magnetic paths `in a having flux normally induced in a predetermined direction, means for changing the direction of said flux, a pair of magnetic path'means rotatable with respect to the first magnetic path, each having a winding, said magnetic path means being common to both of said paths and being normally in operative relation with said first magnetic path with the pole faces of each in opposed relation for completing a magnetic. circuit therewith, and in non-operative relation with the other of said paths, a variable proportion of the flux in said first magnetic circuit extending along said first magnetic path means asthe direction of said flux in said first magnetic path is changed,

a direct current motor for rotating said pair of magnetic path means, and means including a phase discriminator variably operated in accordance with the change in direction looking counterclockwise of said -fiux in said first magnetic path and controlled in accordance With the flux 'in each of said pair of magnetic path means for is no power output from said phase discriminator When. no signal is induced in the winding .of kthe other of said pair of magnetic paths.

9. Ina power follower, a first magnetic path having flux normally induced in a predetermined direction, means for rotating said path to change the direction of said flux, a pair of magnetic path means rotatable with respect to the first magnetic path, each having a winding, said magnetic path means being normally in operative relation with said first magnetic path with the pole faces of each in opposed relation for completing a magnetic circuit therewith, a variable proportion of the flux in said first magnetic circuit extending along said first magnetic path means as the directionof' said flux in said first magnetic path is changed, a direct current motor for rotating said pair of magnetic path means, and means including a phase discriminator variably operated in accordance with the change in direction looking counterclockwi'se of said flux in said iirst magnetic path and controlled in accordance with the flux in each of said pair of magnetic path moans for operating said motor to rotate said paths through an angle and-in a direction determined by the change in direction of said ilux in said 'rst magnetic path, the' circuit arrangement being such that with full amplication of the signal induced in said winding of said ilrst magnetic Y and full signal is normally induced in the third winding, and signal voltage is induced in said second winding when said rst winding is moved from its normal relation withrespect to the other two windings, a common electronic circuit connected to said second and third windings, a motor connected in the output of said electronic circuit, there being no current owing in said electronic circuit Vwhen no signal voltage is induced in said second winding, said electronic circuit supplying operating power to said motor when said rst movable winding is moved from its normal relation with respect to said other windings and induces a signal voltage in said second winding, said motor being thereupon operated from power supplied by said electronic circuit to move said first winding to restore it to its normal physical relation with respect to the other two windings. I

l1. In a power follower," a movable ilrst winding energizable by electric current, a second and a third winding in electro-magnetic relation with said iirst winding, the normal physical relation of said second and third windings with respect to said flrst windingV being such that no signal voltage is normally induced from current flowing in said flrstwinding in the second winding and full signal voltage is normally induced in the third winding, and signal voltage ls induced in said second winding when said rst winding is moved from its normal relation with respect to the other two windings, a common electronic circuit connected to said second and third windings, a motor connected in the output of said electronic circuit, therebeing no current flowing in said electronic circuit when no signal voltage is induced -in said second winding, said electronic circuit supplying operating power to said motor when said rst movable winding is moved from its normal relation with respect to said other windings and iniirst winding to restore it to its normal physicall relation with respect to the other two windings, and means including circuit connections from said second and third windings to said electronic circuit whereby one of said latter two windings determines the direction of rotation of said motor and the other of said latter two windings determines'the extent of motor rotation.

l2. In a power follower,.a movable tlrst winding energizable by electric current. a second and a third winding in' electro-magnetic relation with said rstv winding, the normal physical relation of said second and third windings with respect to said iirst winding beingV such that no signal voltage is normally induced from current owing in.

2,454,355 t iV said iirst winding in the second winding and full signal voltage is normally induced in the third from its'normal relation with respect to the otherl two windings, a common electronic circuit connected to said second and third windings, a motor connected in the output of said electronic circuit, there being no current flowing in said electronic circuit when no signal voltage is induced in said second winding, saidvelectronic circuit supplying operating power to said motor when said iirst movable winding is moved from its normal relation with respect to said other windings and induces a signal voltage in said second winding, said motor being thereupon operated from power supplied by said electronic circuit to move said iirst winding to restore it to its normal 'physical relation with respect to the other two windings, said motor being a direct current motor, said electronic circuit output being connected to theA armature of said motor, and means including circuit connections from said second and third Y windings to said electronic circuit whereby the current output from said electronic circuit through said armature is in one direction when said movable winding is moved in one direction and in the opposite direction when the movable winding is moved in the opposite direction.

13. In a power follower, a movable iirst wind- I 'signal is normally induced in the third Winding,

and signal current is induced in said second wind- Aing when said ,rst winding is moved from its determined by the phase relation of the currents in said second and third windings.

` 14. In a power follower, a movable first windl ing energlzable by electric current,`a second and a third winding in electro-magnetic relation with said first winding, the normal physical relation of said second and third windings with respect to said first winding being such that no signal voltage is normally induced from current flowing in Y said iirst winding in the second winding and full said electronic circuit, said electronic circuit having zero current output when full current ows in said third winding and zero current flows in saidsecond winding and having output current ilowing in said -electronic circuit when current flows in said second winding, the direction of current insaidmotor from said electronic 'circuit being deermiiied by the vou-,age induced in one of' said windings and the'extent of rotation of said The following vreferences are of `i'ecorci in the me of this patent:

UNITED STATES PATENTS "motor being` determined by th voltage induced Number Name Dato in the other 0f said winding f 1,959,805 Wittkuhn et al. May 22, 1934y o l DAVID 1E. spNsTmN. s xgggg Moseley m5311931, REFERENCES CITED 213561186 satrlee Oct' 4 1938 Somers Aug. 22, 1944 

